JPS62102959A - Control unit for machine tool facility using mobile robot device - Google Patents

Abstract

PURPOSE:To reduce the load of a higher-level control unit and simplify programs by performing the control of auxiliary actions such as the opening/closing of the door section of a machine tool based on control commands stored in an arm robot control unit. CONSTITUTION:When the control of actions of an arm robot 62 and a machine tool 13 is started by a central control unit 5, a sectional control unit 43, and an arm robot control unit 63, main actions of the machine tool 13 are controlled by the control units 5 and 43, but auxiliary actions, such as the opening/closing of the door section of the machine tool, the opening/closing of a chuck, the feeding/cutting of the air jet, are controlled by the arm robot control unit 63. That is, the control unit 63 transmits control commands based on control programs for auxiliary actions of the machine tool stored in a built-in memory section 631 via signal connectors 672, 232 of a mobile robot device 6 and a connector installation section 23 to control auxiliary actions. Accordingly, the loads of the central and sectional control units can be reduced and programs can be simplified.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a control device for machine tool equipment using a self-propelled robot device.

[Prior art and problems to be solved by the invention]

Conventionally, when controlling machine tool equipment using an unmanned guided vehicle, an arm robot, and a self-propelled robot device having a control device for the arm robot, for the machine tool, a superordinate system that controls both the self-propelled robot device and the machine tool is used. A control device, such as a divisional control unit and a central control unit, controls all its operations? 1III. That is, the upper control device also controls auxiliary operations such as opening and closing the door of the machine tool, opening and closing the chuck for gripping a workpiece, and cutting off the supply of cleaning air jet. Therefore, there is a problem in that the burden on the upper control device is large both in terms of hardware and software, which increases the price of the device.

[Means for solving problems]

In order to solve the above problems, the present invention provides an automatic guided vehicle, an arm robot, a self-propelled robot device having a control device for the arm robot, a plurality of machine tools and a work shelf installed at a plurality of station positions, The machine tool is equipped with a connector installation section and a relay board installed at the station position corresponding to the machine tool and the work shelf, and a divisional control unit and a central control unit that control the self-propelled robot device and the machine tool. Auxiliary operations in the machine, such as opening and closing of the machine tool door, opening and closing of the chuck for gripping the workpiece, and supply/cutoff of the cleaning air jet, are controlled based on control commands stored in the storage section of the arm robot control device. A control device for machine tool equipment using a self-propelled robot device is provided.

〔Example〕

Hereinafter, one embodiment of the present invention will be described based on the drawings.

FIG. 1 is a schematic diagram of machine tool equipment using a self-propelled robot device as an embodiment of the present invention.

In the figure, on one side, various automated machine tools (MT') 11 to 14 such as lathes and milling machines are installed in parallel, and in line with these machine tools, unprocessed and processed workpieces are processed. A work shelf 19 on which the work is placed is installed on one side. On the other side are machine tools 11-1.
Connector installation parts (CONN) 21 to 24 and 29 are arranged opposite to the power connectors 211 .
221.231. 241 and 291 and signal connector 212. 222. 232, 242 and 292, respectively. Each connector installation part 21 to 24 and 29 has a pair of relay boards (RB) '31 to 34 and 3.
9 are connected to each other, and each of the relay boards 31 to 34 is further connected to each of the corresponding machine tools 11 to 14. And machine tools 11 to 14 and work shelf 19
and connector installation parts 21 to 24 and 29 are installed at station positions 1 to 2 and 2, respectively.

Machine tools and medium 41 at each station location above!
! Sectional control units (CCUs) 41, 43, and 49 for controlling machine tools and self-propelled robot devices (to be described later) are connected to the panel, one for each of the machine tools and the self-propelled robot devices described later, at a pair of station positions via a relay board and a connector installation section. ing. Further, a central control unit (CPU) 5 is connected to these divisional control units to control them.

As shown in FIG. 2, the self-propelled robot device 6 is an unmanned robot device for moving between the station positions by passing between the machine tools 11 to 14 and the work shelf 19 and the connector installation parts 21 to 24 and 29. It has a guided vehicle 61, and an arm robot 62 is mounted on the upper part of the automated guided vehicle 61, approximately in the center thereof.

An arm robot control device 63 that controls the operation of the arm robot 62 is mounted on one end of the automatic guided vehicle 61, and the arm robot control device 63 is equipped with a program that controls the operation of the arm robot, It has a built-in storage unit 631 that stores programs for controlling 14 auxiliary operating units, such as opening/closing the door of the machine tool, opening/closing the chuck for gripping a workpiece, and supplying/cutting off the cleaning air jet. The other end of the automatic guided vehicle 61 has the automatic guided vehicle 6
An automatic guided vehicle control device 64 that controls the traveling of the vehicle 1 is mounted.

Four emergency stop buttons 65a, 65b, 65c, and 65d are provided at predetermined positions on the top of the automatic guided vehicle 61, and workpiece stands 66a and 66b are provided near the arm robot 62. . Automatic guided vehicle 6
A power connector 671 and a signal connector 672 are provided on the side facing the connector installation parts 21 to 24 and 29 of 1.
are arranged, and these connectors are connected to the power connector 211 at each station position.
．． 221. 231. 241 or 291 and the signal connector 212.222.232.242 or 292, respectively. Furthermore, two page detection optical sensors 68 are installed on the side of the automatic guided vehicle 61.
a and 68b, and two unmanned transport vehicle guidance sensors 68c and 68d are provided protruding from the lower part near both ends of the unmanned transport vehicle 61. In addition, the self-propelled robot device 6
is driven by driving wheels 691 and casters 692 and 693 of the automatic guided vehicle 61, which are controlled by the automatic guided vehicle control device 64.

Next, the operation of the control device shown in FIG. 1 will be explained.

The self-propelled robot device 6 approaches a predetermined station position, for example, station position (2) according to the program of the automatic guided vehicle control device 64, and optical sensors 68a and 68b detect optical signals emitted by an optical signal generator (not shown). Then, the self-propelled robot device 6 stops running. At the same time, the power connector 671 and the signal connector 672 come into contact with the power connector 231 and the signal connector 232 of the connector installation section 23, respectively, and are connected thereto.

Next, control of the operation of the arm loft 62 and the machine tool 13 by the central control unit 5, the division control unit 43, and the arm robot control device 63 is started. At this time, the main operations of the machine tool 13 are controlled by the central control unit 1-5 and the divisional control unit 43, but the auxiliary operations of the machine tool 13, such as opening and closing the door, opening and closing the chuck, and supplying and shutting off the air jet, etc. is controlled by the arm robot control device 63. That is, the arm robot control device 63 sends control commands based on the control program for the auxiliary operation of the machine tool, which is stored in the storage section 631 built therein, to each of the self-propelled robot device 6 and the connector installation section 23. The signal is transmitted to the machine tool 13 via the signal connectors 672 and 232 and the relay board 33, and controls auxiliary operations in the machine tool 13.

Although the above explanation deals with the case of station position (2), similar control is performed at station positions I2 (2) and (2).

〔Effect of the invention〕

As explained above, according to the '41' JW arrangement of the present invention, the arm robot control device controls the auxiliary operations in the machine tool, so the burden on the upper control device is reduced to hardware and Mitigation is achieved in both software.

In addition, since the auxiliary movements of the machine tool are controlled by the self-propelled robot device located at the station position, there is no need for a program to determine the station position on the host controller side, making it possible to simplify the program on the host controller. become.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram of a control device for machine tool equipment using a self-propelled robot device as an embodiment of the present invention, and FIG. 2 is an elevational view of the self-propelled robot device used in FIG. 1. 11-14...Machine tool (MT), 19
・・・・・・・・・・・・Work shelf (WS)
, 21 to 24, 29... Connector installation part (CONN
), 31-34, 39... Relay board (RB), 41
, 43 , 49... section control unit (CCU), 5
・・・・・・・・・・・・・・・Central control unit l-
(CPU), 6... Self-propelled robot device, 61... Automatic guided vehicle, 62... ...Arm robot, 63...
・・・・・・・・・Arm robot control device, 631...
・・・・・・・・・Memory department.

Claims (1)

[Claims] 1. An unmanned guided vehicle, an arm robot, and a self-propelled robot device having a control device for the arm robot, a plurality of machine tools and a work shelf installed at a plurality of station positions, the machine tool and the work shelf. A connector installation part and a relay board installed at the station position corresponding to the above, and a divisional control unit and a central control unit for controlling the self-propelled robot device and the machine tool, and for controlling auxiliary operations in the machine tool, such as Controls such as opening and closing of the machine tool door, opening and closing of the chuck for gripping the workpiece, and supply/cutoff of the cleaning air jet are performed based on control commands stored in the storage section of the arm robot control device. A control device for machine tool equipment using a self-propelled robot device, characterized in that: